CN108678468A - A kind of clipping omnidirectional's Automatic Guided Vehicle - Google Patents
A kind of clipping omnidirectional's Automatic Guided Vehicle Download PDFInfo
- Publication number
- CN108678468A CN108678468A CN201810466569.5A CN201810466569A CN108678468A CN 108678468 A CN108678468 A CN 108678468A CN 201810466569 A CN201810466569 A CN 201810466569A CN 108678468 A CN108678468 A CN 108678468A
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- China
- Prior art keywords
- clamp arm
- bottom plate
- driving
- omnidirectional
- clipping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000005540 biological transmission Effects 0.000 claims description 9
- 210000002445 nipple Anatomy 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
Abstract
The object of the present invention is to provide a kind of clipping omnidirectional's Automatic Guided Vehicles being adapted to different road conditions especially out-of-flatness ground, including carrier ontology, and four groups of clamp arm for corresponding to automobile front and back wheel respectively on the bottom plate of carrier ontology are set, every group of clamp arm includes two clamp arm；Clamp arm driving clamping device is set on bottom plate, tire is clamped by clamping clamp arm；Hoofing part mechanism and controller are set on bottom plate；Clamp arm one end be rotatably connected on bottom plate make the clamp arm other end float up and down adapt to ground.Omnidirectional's driving may be implemented in vehicle.When Uneven road, it will not block or skid, driving wheel pressure is constant, and driving wheel traffic direction can be kept correct.Point-blank and between worm screw abutting end jacking mechanism is arranged in two worm screw settings, and external force that can be by load to each worm screw is converted to the internal force between two worm screws, reduces damage and the vehicle trouble of bearing block.
Description
Technical field
The invention belongs to vehicle parkings to carry field, and in particular to a kind of clipping omnidirectional's Automatic Guided Vehicle.
Background technology
Existing carrier hoofing part mechanism is mostly that one group or two groups of drive wheel groups drive carrier movement.Carrier
It can be in garage according to the movement of the track of setting.Intelligentized garage parking and handling device are the development sides in existing garage parking
To.The omnidirectional's Automatic Guided Vehicle for needing all directions to move.
Existing clipping carrier makes the tire of automobile be lifted by stepping up clamp arm, and two clamp arm can be with rotating clip
Clamping can also tightly be moved towards.One end of clamp arm is fixed on carrier.Carrier moves in garage, there is injustice in garage
Whole place, especially nature Outdoor Parking area, road conditions are different, can sometimes encounter the ground of soft injustice.Existing carrying
Vehicle, because the limitation of garage volume is more small and exquisite, driving wheel is smaller and load is bigger.The driving wheel of each position only has
1, in operation, in place of encountering injustice, if there is pit on ground, then driving wheel is once trapped into and is difficult to out vehicle.In addition,
The weight of vehicle is that the auxiliary support wheel being grounded by the driving wheel of driving mechanism and clamp arm end undertakes together, if in clamp arm
Auxiliary support wheel position it is uneven, if it is pit, auxiliary support wheel will be liftoff, and the weight of vehicle is made to be moved to driving
In mechanism, the pressure of driving mechanism is increased, driving wheel rubber is compressed, and radius changes, and the linear velocity of two rows of wheels differs
Sample, carrier, which generates, to be turned to and clamp arm is made to deform.If ground is raised, driving wheel is lifted under the action of auxiliary support wheel,
Carrier run-off the straight；Pressure on driving wheel moves to unilateral, and driving wheel rubber is compressed, and radius changes, two rows of wheels
Linear velocity it is different, carrier generate steering.Therefore market effect and bad.
For two clamp arm of carrier in the clamp state respectively by the reaction force of tire, reaction force is very big, is easy to make
It damages, breaks down at clamp arm and pedestal junction.The height of failure rate is also to weigh carrier especially Automatic Guided Vehicle
Important indicator.
Invention content
The object of the present invention is to provide a kind of clipping omnidirectional being adapted to different road conditions especially out-of-flatness ground is automatic
Carrier.
The purpose of the present invention is what is realized in the following manner：A kind of clipping omnidirectional's Automatic Guided Vehicle, including carrier sheet
Body, and four groups of clamp arm for corresponding to automobile front and back wheel respectively on the bottom plate of carrier ontology are set, every group of clamp arm includes two
Clamp arm；Clamp arm driving clamping device is set on bottom plate, tire is clamped by clamping clamp arm；Hoofing part mechanism is set on bottom plate
And controller；Clamp arm one end be rotatably connected on bottom plate make the clamp arm other end float up and down adapt to ground.
Clamp arm driving clamping device is turbine and worm mechanism, and worm screw, which is arranged on bottom plate to be driven by motor, to be rotated, and worm screw turns
Dynamic connecting sleeve, is arranged clamp arm rotation axis on casing, turbine rotation be connected in clamp arm rotation axis and with worm screw engagement rotation, folder
Arm one end is fixedly connected with turbine as turbine rotates together, and two clamp arm are unclamped relative to either opposite rotation or pinch wheels
Tire；Clamp arm and casing make the clamp arm other end float up and down to adapt to ground along worm axis rotation.
It will be loaded to the outer of each worm screw with setting jacking mechanism between the abutting end of two worm screws of two clamp arm of group
Power is converted to the internal force between two worm screws.
Worm screw both ends connect the bearing block being arranged on bottom plate by bearing, are set between two bearing blocks of worm screw abutting end
Two stop bit nuts are set, are connected by nipple between two stop bit nuts.
Hoofing part mechanism includes two turntable steering mechanism being rotatablely connected with bottom plate, and turntable steering mechanism both sides are symmetrical
Driving wheel is set, rotation is driven by mechanism is operated alone per side drive wheel；Driving mechanism is electrically connected controller.
Per at least two driving wheel of side drive wheel, synchronous turn is driven by the same driving mechanism between side drive wheel
It is dynamic.
Two mounting brackets are set in turntable steering mechanism, and two rows of driving wheels are rotatably arranged on peace by drive shaft and bearing
It shelves；Identical gear is set on drive shaft, and gear engagement drives drive shaft to rotate synchronously.
Hoofing part mechanism includes two turntable steering mechanism being rotatablely connected with bottom plate, and turntable steering mechanism both sides are symmetrical
Caterpillar transmission mechanism is set, and each Caterpillar transmission mechanism is driven by mechanism is operated alone；Driving mechanism is electrically connected controller；Crawler belt
Transmission mechanism includes the crawler belt at least two Athey wheels and connecting band track wheel rotated synchronously being arranged in turntable steering mechanism.
Two mounting brackets are set in turntable steering mechanism, and Athey wheel is arranged on drive shaft, and drive shaft passes through bearing
It is rotatably arranged on mounting bracket；Identical gear is set on drive shaft, and gear engagement drives drive shaft to rotate synchronously.
10. a kind of clipping omnidirectional's Automatic Guided Vehicle according to claim 1, it is characterised in that：The clamp arm is separate
One end setting auxiliary support wheel of bottom plate is contacted with ground.
The beneficial effects of the invention are as follows：Clamp arm turns downwards or upwards when ground is recessed either raised with clamp arm contact position
Dynamic, casing rotates therewith, and driving wheel and clamp arm will not be hanging with ground contact position, and carrier is caused to tilt.Driving wheel pressure is not
Become, driving wheel traffic direction can be kept correct.
Point-blank and between worm screw abutting end jacking mechanism is arranged in two worm screw settings, can be by load to every
The external force of a worm screw is converted to the internal force between two worm screws, reduces damage and the vehicle trouble of bearing block.
Liang Ge turntables steering mechanism can make front and back vehicle, retrogressing, translation and arbitrary curve movement, realize omnidirectional's driving.
Multiple driving wheels, which synchronize driving or crawler type driving, can make carrier by that will not be absorbed in when uneven ground, skidding,
And mitigate the load of wheel, prevent wheel excessive deformation.The application carrier can be in the especially out-of-flatness of different road conditions
Road conditions under accurate automatically traveling.
Description of the drawings
Fig. 1 is general structure schematic diagram of the present invention.
Fig. 2 is a pair of of clamp arm and turntable steering mechanism embodiment 2.
Fig. 3 is turntable steering mechanism embodiment 1
Wherein 1 is bottom plate, and 2 be clamp arm, and 3 be turbine and worm mechanism, and 4 be worm screw, and 5 be turbine, and 6 be motor, and 7 be casing, and 8 be pipe
Frame, 9 be clamp arm rotation axis, and 10 be auxiliary support wheel, and 11 be idler wheel, and 12 be bearing block, and 13 be stop bit nut, and 14 connect for screw thread
Head, 15 be turntable steering mechanism, and 16 be driving wheel, and 17 be driving mechanism, and 18 be mounting bracket, and 19 be drive shaft, and 20 be gear,
21 be Athey wheel, and 22 be crawler belt, and 23 be driving outer ring, and 24 be driving inner ring, and 25 be preceding handling unit, and 26 be rear handling unit,
27 be telescoping mechanism.
Specific implementation mode
As shown in Figs. 1-3, a kind of clipping omnidirectional's Automatic Guided Vehicle, including carrier ontology, and be arranged in carrier
Four groups of clamp arm 2 of automobile front and back wheel are corresponded on the bottom plate 1 of ontology respectively, every group of clamp arm includes two clamp arm 2；It is arranged on bottom plate 1
Tire is clamped by clamping clamp arm 2 in clamp arm driving clamping device；Hoofing part mechanism and controller are set on bottom plate 1.Two
Clamp arm 2 can rotate clamping, and can also be translatable clamping.
Carrier ontology includes two handling unit connected by telescoping mechanism 27, referred to as before moves unit 25 and is removed with after
Transportation unit 26.Each handling unit includes bottom plate 1, and 1 left and right sides of each bottom plate is symmetrically arranged a pair of of clamp arm 2.Two bottoms
Protecgulum and rear cover is respectively set on plate 1.
Carrier is positioned using overall Vision, vision laser integrated navigation.
Clamp arm driving clamping device embodiment 1：
Clamp arm driving clamping device is turbine and worm mechanism 3, and worm screw 4, which is arranged on bottom plate 1 to be driven by motor 6, to be rotated.4 turns of worm screw
Dynamic connecting sleeve 7,7 joint pipe frame 8 of casing, setting clamp arm rotation axis 9 on pipe support 8, turbine 5 is rotatably connected on clamp arm by bearing
In rotation axis 9 and with 4 engagement rotation of worm screw, 2 one end of clamp arm and turbine 5 are fixed, as turbine 5 rotates together, clamp arm 2 also by
Bearing is rotatably connected in clamp arm rotation axis 9.Tire is unclamped or clamped to two clamp arm 2 relative to either opposite rotation.2 He of clamp arm
Casing 7 along 4 axis of worm screw rotation make 2 other end of clamp arm float up and down adapt to ground.
Under Land leveling state, pipe support 8 is concordant with bottom plate 1.Turbine 5 can not be full circle, be less than 180 degree more than 90 degree
It can.4 both ends of worm screw respectively set a deep groove ball bearing, and deep groove ball bearing outer ring coordinates with 7 inner wall of casing.7 interposition of casing installs
Opening is set, worm screw 4 is with turbine 5 in aperture position engaged transmission.4 both ends of worm screw are fixed on bottom plate 1 by bearing and bearing block 12
On.Two servo motor parallel connections drive worm screw 4 to rotate by retarder, and sufficiently large power is provided for worm screw 4.Motor 6 is by electricity
Pond powers, and two electrodes provide larger electric current.Motor connects controller, is controlled and is rotated by controller.
One end setting auxiliary support wheel 10 of the clamp arm 2 far from bottom plate 1 is contacted with ground.The side that clamp arm 2 clamps tire is set
Set idler wheel 11.Rolling friction between auxiliary support wheel 10 and ground, when walking and hoofing part mechanism supports carrier together.Rolling
Wheel 11 can be deep groove ball bearing, be less likely to be damaged tire when with tire interface.
Clamp arm 2 is downward when ground and either raised 10 contact position of the auxiliary support wheel recess of clamp arm 2 or is rotated up,
Casing 7 rotates therewith, and hoofing part mechanism will not be hanging with ground contact position with ground contact position and clamp arm 2, causes carrier
It tilts.16 pressure of driving wheel is constant, and 16 traffic direction of driving wheel can be kept correct.
Clamp arm driving clamping device embodiment 2
With embodiment 1 the difference is that：
It will be loaded to the external force of each worm screw 4 with setting jacking mechanism between the abutting end of two worm screws 4 of two clamp arm 2 of group
Be converted to the internal force between two worm screws 4.When clamp arm 2 clamps automobile tire, the one of tire is clamped by tire to clamp arm 2 for automobile
End is the prodigious power of bare terminal end, to make clamp arm 2 exert a force bottom plate 1, because strength is very big, it is easy to cause bolt and bearing block
12 damages, cause equipment fault, influence to use, and replace cumbersome when part of damage.Tire is clamped to clamp arm 2 in the present embodiment
Hold downward power and two clamp arm 2 the planar outside power of vertical clamp arm 2, turbine 5 clamp arm rotation axis 9 the other end,
So the power that turbine 5 applies to worm screw 4 is opposite with the direction of 2 bare terminal end institute stress of clamp arm.With two worm screws, 4 institute of group clamp arm 2
The force direction received is opposite and is directed toward other side mutually.By the setting of two worm screws 4 point-blank and 4 abutting end of worm screw it
Between jacking mechanism is set, load can be converted to the internal force between two worm screws 4 to the external force of each worm screw 4.
4 both ends of worm screw connect the bearing block being arranged on bottom plate 1, two bearing blocks 12 of 4 abutting end of worm screw by bearing
Between two stop bit nuts 13 are set, connected by nipple 14 between two stop bit nuts 13.It pushes up 13 one end of stop bit nut
On bearing block 12, one end is connected through a screw thread with nipple 14.This structure is easy for assemble or unload, it is only necessary to rotate screw thread
Connector 14, which can be completed, to be held out against or dismantles.Worm screw 4 gives the power of bearing block 12 towards the direction of adjoining worm gears 4, passes through stop bit spiral shell
Mother 13 and helicitic texture hold out against the bearing block 12 of two neighboring worm screw 4, and the power that bearing block 12 should be born is made to become two
Internal force between endless screw system.
Clamp arm driving clamping device embodiment 3
With embodiment 2 the difference is that：It does not use turbine and worm mechanism 3 to drive clamp arm, uses and be slidably arranged in
Rack on bottom plate 1 drives with the gear being rotatably arranged in clamp arm rotation axis 9, and setting 2. rack of clamp arm uses straight line on gear
Driving device drives.Jacking mechanism is arranged between two adjacent linear drive apparatus abutting ends makes load drive rack and straight line
External force between motivation structure is converted to internal force.The mechanism of specific jacking mechanism can be with reference implementation example 2.
Hoofing part mechanism includes two turntable steering mechanism 15 being rotatablely connected with bottom plate 1.Setting driving outer ring on bottom plate 1
23；Setting driving inner ring 24 in turntable steering mechanism 15 drives and plane bearing is arranged between inner ring 24 and driving outer ring 23.
Turntable steering mechanism embodiment 1：
15 both sides of turntable steering mechanism are symmetrical arranged driving wheel 16, and rotation is driven by mechanism 17 is operated alone per side drive wheel 16；
Driving mechanism 17 is electrically connected controller.Per side drive wheel 16 at least two driving wheel 16, between side drive wheel 16 by same
One driving mechanism 17, which drives, to be rotated synchronously.Two mounting brackets 18 are set in turntable steering mechanism 15, and two rows of driving wheels 16 pass through
Drive shaft 19 and bearing are rotatably arranged on mounting bracket 18.Identical gear 20 is set on drive shaft 19, and gear 20 engages
Drive shaft 19 is driven to rotate synchronously.Asessory shaft can be set according to position, identical gear help is set on asessory shaft and is driven.
Several driving wheels 16 can be made to rotate synchronously with synchronous belt etc..Driving mechanism 17 is driving motor and retarder, is also disposed at peace
It shelves on 18.Reducer output shaft drives a driving wheel 16 to rotate, and other driving wheels are mounted on installation by drive shaft 19
Frame 18.
Carrier will drive under automobile bottom and carry, and height is low, and wheel diameter is smaller.When ground injustice is for example recessed,
Driving wheel 16, which is trapped into, can sometimes can't get out, even if there is auxiliary wheel, but auxiliary wheel itself is without driving force, once carrier
It does not move, auxiliary wheel itself, which will not rotate, makes carrier from being recessed up.Using 16 structure of multiple driving wheels, once wherein one
A to be absorbed in, the rotation of driving wheel 16 in addition drives carrier movement.Homonymy uses the driving wheel of 3 synchronous rotations in the present embodiment
16.The drive system of carrier has 12 driving wheels 16 altogether.For this carrier since height is 110 millimeters low, weight weighs 4000 kilograms,
The rubber wheel of general 100 millimeters of diameter cannot withstand, and load capacity has also been separated using all-wheel drive.
Advance, retrogressing, left and right translation, 360 degree centered on the carrier rotations of carrier may be implemented in the present embodiment,
It can carry out arbitrary curve movement.When the driving motor rotating speed of same 15 inside two sides of turntable steering mechanism is identical, rotation side
To it is opposite when, the driving wheel 16 of the rotation of turntable steering mechanism 15 original place, 15 the inside of turntable steering mechanism can go to arbitrary side
To.When the 16 direction same rotational speed of driving wheel of Liang Ge turntables steering mechanism 15 is identical, forward-reverse or arbitrary may be implemented
Direction translates；When 16 direction of driving wheel of Liang Ge turntables steering mechanism 15 is in the tangential direction and rotating speed phase of a circular trace
Meanwhile carrier can move in a circle；When the different rotating speeds difference of direction, arbitrary curve movement can be done.Specific movement locus
It is controlled by controller.
Turntable steering mechanism embodiment 2：
15 both sides of turntable steering mechanism are symmetrical arranged Caterpillar transmission mechanism, and each Caterpillar transmission mechanism is by being operated alone 17 band of mechanism
It is dynamic.Driving mechanism 17 is electrically connected controller；Caterpillar transmission mechanism include be arranged in turntable steering mechanism 15 it is at least two same
Walk the crawler belt 22 of the Athey wheel 21 and connecting band track wheel 21 of rotation.Two mounting brackets 18, crawler belt are set in turntable steering mechanism 15
Wheel 21 is arranged on drive shaft 19, and drive shaft 19 is rotatably arranged on by bearing on mounting bracket 18.It is set on drive shaft 19
Identical gear 20 is set, the engagement of gear 20 drives drive shaft 19 to rotate synchronously.Track structure can be applicable in various ground, than
Multiple driving wheels 16 more adapt to outdoor elements and concave-convex different ground.
When it is implemented, carrier enters under-vehicle, vehicle front rear wheel position is positioned, motor 6 drives turbine snail
The rotation of linkage 3 is to make the rotation of clamp arm 2 clamp lifting tire to specified altitude assignment.After determining good position route, carrier driving
Mechanism 17 starts, and drives carrier movement.Carrier driving wheel 16 or crawler belt 22 are adjusted by adjusting turntable steering mechanism 15
Angle allow carrier to any direction move.Vision system is arranged on carrier to position, vision laser integrated navigation, control
Device control processed.After reaching designated position, turbine and worm mechanism 3, which drives the rotation release of clamp arm 2 to put down, makes automobile tire.2 turns of clamp arm
It moves and is adjacent to bottom plate 1, left from automobile lower section.
Claims (10)
1. a kind of clipping omnidirectional's Automatic Guided Vehicle, including carrier ontology, and be arranged on the bottom plate of carrier ontology and divide
Four groups of clamp arm of automobile front and back wheel are not corresponded to, and every group of clamp arm includes two clamp arm；It is logical that clamp arm driving clamping device is set on bottom plate
It crosses clamping clamp arm and tire is clamped；Hoofing part mechanism and controller are set on bottom plate；It is characterized in that：Described clamp arm one end turns
Dynamic be connected on bottom plate makes the clamp arm other end float up and down to adapt to ground.
2. a kind of clipping omnidirectional's Automatic Guided Vehicle according to claim 1, it is characterised in that：The clamp arm clamps driving dress
It is set to turbine and worm mechanism, worm screw, which is arranged on bottom plate to be driven by motor, to be rotated, and worm screw is rotatablely connected casing, and folder is arranged on casing
Arm rotation axis, turbine rotation be connected in clamp arm rotation axis and with worm screw engagement rotation, clamp arm one end be fixedly connected with turbine with
It turbine to rotate together, tire is unclamped or clamped to two clamp arm relative to either opposite rotation；Clamp arm and casing are along worm shaft
Line rotation make the clamp arm other end float up and down adapt to ground.
3. a kind of clipping omnidirectional's Automatic Guided Vehicle according to claim 2, it is characterised in that：With the two of two clamp arm of group
Jacking mechanism is set between the abutting end of a worm screw, load is converted into the internal force between two worm screws to the external force of each worm screw.
4. a kind of clipping omnidirectional's Automatic Guided Vehicle according to claim 3, it is characterised in that：The worm screw both ends pass through axis
The bearing block that connection is arranged on bottom plate is held, two stop bit nuts are set between two bearing blocks of worm screw abutting end, and two only
It is connected by nipple between the nut of position.
5. according to a kind of any clipping omnidirectional's Automatic Guided Vehicles of claim 1-4, it is characterised in that：The hoofing part
Mechanism includes two turntable steering mechanism being rotatablely connected with bottom plate, and turntable steering mechanism both sides are symmetrical arranged driving wheel, per side
Driving wheel drives rotation by mechanism is operated alone；Driving mechanism is electrically connected controller.
6. a kind of clipping omnidirectional's Automatic Guided Vehicle according to claim 5, it is characterised in that：Every side drive wheel is at least
For two driving wheels, rotated synchronously with being driven by the same driving mechanism between side drive wheel.
7. a kind of clipping omnidirectional's Automatic Guided Vehicle according to claim 6, it is characterised in that：In the turntable steering mechanism
Two mounting brackets are set, and two rows of driving wheels are rotatably arranged on by drive shaft and bearing on mounting bracket；It is arranged on drive shaft
Identical gear, gear engagement drive drive shaft to rotate synchronously.
8. according to a kind of any clipping omnidirectional's Automatic Guided Vehicles of claim 1-4, it is characterised in that：The hoofing part
Mechanism includes two turntable steering mechanism being rotatablely connected with bottom plate, and turntable steering mechanism both sides are symmetrical arranged crawler haulage machine
Structure, each Caterpillar transmission mechanism are driven by mechanism is operated alone；Driving mechanism is electrically connected controller；Caterpillar transmission mechanism includes setting
Set the crawler belt of at least two Athey wheels and connecting band track wheel rotated synchronously in turntable steering mechanism.
9. a kind of clipping omnidirectional's Automatic Guided Vehicle according to claim 8, it is characterised in that：In the turntable steering mechanism
Two mounting brackets are set, and Athey wheel is arranged on drive shaft, and drive shaft is rotatably arranged on by bearing on mounting bracket；Driving
Identical gear is set on wheel shaft, and gear engagement drives drive shaft to rotate synchronously.
10. a kind of clipping omnidirectional's Automatic Guided Vehicle according to claim 1, it is characterised in that：The clamp arm is far from bottom plate
One end setting auxiliary support wheel contacted with ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810466569.5A CN108678468B (en) | 2018-05-16 | 2018-05-16 | Clamping type omnidirectional automatic carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810466569.5A CN108678468B (en) | 2018-05-16 | 2018-05-16 | Clamping type omnidirectional automatic carrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108678468A true CN108678468A (en) | 2018-10-19 |
| CN108678468B CN108678468B (en) | 2024-01-30 |
Family
ID=63806560
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810466569.5A Active CN108678468B (en) | 2018-05-16 | 2018-05-16 | Clamping type omnidirectional automatic carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108678468B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109441183A (en) * | 2018-10-25 | 2019-03-08 | 深圳怡丰自动化科技有限公司 | A kind of vehicle carrier and its rotation clamp assemblies |
| CN111287523A (en) * | 2018-12-06 | 2020-06-16 | 大众汽车有限公司 | Parking robot for a motor vehicle |
| CN112282456A (en) * | 2020-10-22 | 2021-01-29 | 深圳精智机器有限公司 | Heavy duty vehicle carrier and method |
| KR20210031598A (en) * | 2019-09-12 | 2021-03-22 | 항저우 지무 테크놀로지 컴퍼니 리미티드 | Clamping arm, intelligent parking robot equipped with this clamping arm, and clamping method of this clamping arm |
| US11447025B2 (en) | 2019-02-27 | 2022-09-20 | Honda Motor Co., Ltd. | Vehicle transport system |
| US11458631B2 (en) | 2019-02-27 | 2022-10-04 | Honda Motor Co., Ltd. | Vehicle transport apparatus |
| CN116273642A (en) * | 2023-05-22 | 2023-06-23 | 江苏钢锐精密机械有限公司 | Automatic paint spraying equipment for fan housing |
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| CN109441183B (en) * | 2018-10-25 | 2024-02-20 | 深圳怡丰自动化科技有限公司 | Vehicle carrier and rotatory clamping assembly thereof |
| CN109441183A (en) * | 2018-10-25 | 2019-03-08 | 深圳怡丰自动化科技有限公司 | A kind of vehicle carrier and its rotation clamp assemblies |
| CN111287523A (en) * | 2018-12-06 | 2020-06-16 | 大众汽车有限公司 | Parking robot for a motor vehicle |
| US11492055B2 (en) | 2018-12-06 | 2022-11-08 | Volkswagen Aktiengesellschaft | Parking robot for a transportation vehicle |
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| US11458631B2 (en) | 2019-02-27 | 2022-10-04 | Honda Motor Co., Ltd. | Vehicle transport apparatus |
| KR20210031598A (en) * | 2019-09-12 | 2021-03-22 | 항저우 지무 테크놀로지 컴퍼니 리미티드 | Clamping arm, intelligent parking robot equipped with this clamping arm, and clamping method of this clamping arm |
| KR102278107B1 (en) * | 2019-09-12 | 2021-07-16 | 항저우 지무 테크놀로지 컴퍼니 리미티드 | Clamping arm, intelligent parking robot equipped with this clamping arm, and clamping method of this clamping arm |
| CN112282456B (en) * | 2020-10-22 | 2022-05-20 | 深圳精智机器有限公司 | Heavy-duty vehicle carrier and method |
| CN112282456A (en) * | 2020-10-22 | 2021-01-29 | 深圳精智机器有限公司 | Heavy duty vehicle carrier and method |
| CN116273642A (en) * | 2023-05-22 | 2023-06-23 | 江苏钢锐精密机械有限公司 | Automatic paint spraying equipment for fan housing |
| CN116273642B (en) * | 2023-05-22 | 2023-07-21 | 江苏钢锐精密机械有限公司 | Automatic paint spraying equipment for fan housing |
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| CN108678468B (en) | 2024-01-30 |
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